Nested model's link names are scoped but the parent and child field in the joint SDF element may not be. So keep track of scoped link names in order to generate the correct SDF before spawning the model.

Parameters

[in]

_name

Scoped link name.

void AlignLinks

(

const bool

_childToParent,

const std::string &

_axis,

const std::string &

_mode,

const bool

_reverse

)

Align the parent and child links of the joint being created.

Parameters

[in]

_childToParent

True to align the child to the parent, false to align the parent to the child.